4 papers · 1 filter
A Few Words Go a Long Way: Language Guided Robot Policy Synthesis
Daphne Chen, Archit Ritesh Jain, Eric Goossen +4
While vision-language-action models have demonstrated impressive zero-shot manipulation capabilities, they remain fundamentally black box policies that are difficult to interpret,…
Robots That Know What to Ask: Recovering Misaligned Rewards through Targeted Explanations
Helena Merker, Nick Walker, Andreea Bobu
Learning reward functions from demonstrations assumes that demonstrations provide adequate supervision over all features -- or task-relevant aspects of behavior. In practice, demon…
Can Large Language Models Help Developers with Robotic Finite State Machine Modification?
Xiangyu Robin Gan, Yuxin Ray Song, Nick Walker +1
Finite state machines (FSMs) are widely used to manage robot behavior logic, particularly in real-world applications that require a high degree of reliability and structure. Howeve…
Fast Explicit-Input Assistance for Teleoperation in Clutter
Nick Walker, Xuning Yang, Animesh Garg +3
The performance of prediction-based assistance for robot teleoperation degrades in unseen or goal-rich environments due to incorrect or quickly-changing intent inferences. Poor pre…